Adaptive Entropy-Driven Sensor Selection in a Camera-LiDAR Particle Filter for Single-Vessel Tracking

Abstract

Robust single-vessel tracking from fixed coastal platforms is hindered by modality-specific degradations: cameras suffer from illumination and visual clutter, while LiDAR performance drops with range and intermittent returns. We present a heterogeneous multi-sensor fusion particle-filter tracker that incorporates an information-gain (entropy-reduction) adaptive sensing policy to select the most informative configuration at each fusion time bin. The approach is validated in a real maritime deployment at the CMMI Smart Marina Testbed (Ayia Napa Marina, Cyprus), using a shore-mounted 3D LiDAR and an elevated fixed camera to track a rigid inflatable boat with onboard GNSS ground truth. We compare LiDAR-only, camera-only, all-sensors, and adaptive configurations. Results show LiDAR dominates near-field accuracy, the camera sustains longer-range coverage when LiDAR becomes unavailable, and the adaptive policy achieves a favorable accuracy-continuity trade-off by switching modalities based on information gain. By avoiding continuous multi-stream processing, the adaptive configuration provides a practical baseline for resilient and resource-aware maritime surveillance.